CN113305457A - Method for welding battery tray by using robot CMT and FSW technologies - Google Patents
Method for welding battery tray by using robot CMT and FSW technologies Download PDFInfo
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- CN113305457A CN113305457A CN202110446937.1A CN202110446937A CN113305457A CN 113305457 A CN113305457 A CN 113305457A CN 202110446937 A CN202110446937 A CN 202110446937A CN 113305457 A CN113305457 A CN 113305457A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
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Abstract
The invention discloses a device and a method for welding a battery tray by utilizing robot CMT and FSW technologies, and the device comprises a workpiece transmission and handling system, a CMT robot welding system, an FSW robot welding system and a safety protection device, wherein the workpiece transmission and handling system comprises a conveying chain, a handling robot and a handling robot control cabinet, the CMT robot welding system comprises a CMT welding robot, a CMT welding robot control cabinet, a CMT welding assembly, a five-axis double-station rotary positioner and a CMT station tool clamp, and the FSW robot welding system comprises an FSW welding robot, an FSW welding robot control cabinet, an FSW welding assembly, a double-station rotary positioner and an FSW station tool clamp. And a CMT and FSW combined process is provided, so that the welding seam of the battery tray is completely welded to improve the air tightness, the deformation control meets the product requirements, and the battery tray is efficiently produced by utilizing the cooperation of a robot CMT, a robot FSW, a transfer robot, a conveying chain and other devices.
Description
Technical Field
The invention relates to the technical field of production of new energy automobile auxiliary devices, in particular to a device and a method for welding a battery tray by using robot CMT and FSW technologies.
Background
The CMT (Cold Metal Transfer) technology stops the advance of a welding wire when short-circuit current is generated, automatically withdraws, reduces voltage and current, realizes non-splash transition and reduces heat input; FSW, Friction Stir Welding (Friction Stir Welding), is a method of melting a material of a weldment by heat generated by Friction between a high-speed rotating Stir head and a workpiece to complete Welding; when the CMT is used for welding the aluminum alloy, the oxidation film can be cleaned, the heat input is reduced, the deformation is reduced, and the welding quality is improved; the FSW welding aluminum alloy has small deformation and high welding quality, and does not need filling materials, gas protection and the like.
The aluminum alloy battery tray is an important means for realizing light weight of a new energy automobile, the battery tray has high requirements for performance, small deformation, good air tightness and high welding quality are required in manufacturing, but defects such as cracks, air holes and the like are easily generated when the battery tray is welded by MIG welding in the prior art, and large deformation is easily generated after welding, so that the problems of poor product sealing performance, difficulty in assembly and the like are caused.
In the existing aluminum alloy welding process, MIG welding has high production efficiency, good weld formation and little splashing, but high heat input and large deformation; TIG welding has stable electric arc, easy control of heat input and no splashing, but has low production efficiency and small fusion depth; the CMT welding technology has the advantages of small deformation, small heat input, good welding quality and the like, but most of the battery trays are fillet welds, if the emphasis is on controlling the heat input, the defects of incomplete penetration, incomplete fusion and the like of the welds can be caused, and if the emphasis is on the quality of the welds, the deformation problem in the welding process does not meet the product performance requirements of the battery trays; and FSW can not process fillet weld welding, and a back support is required to be additionally arranged when the FSW is used for welding butt welds with different thicknesses between the frame and the bottom plate of the battery tray.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects in the prior art are overcome, the device and the method for welding the battery tray by using the CMT and FSW technologies of the robot are provided, the CMT and FSW combined process is provided, the welding seam of the battery tray can be completely welded through, the air tightness is improved, and the deformation control meets the product requirements.
The technical scheme adopted by the invention for solving the technical problems is as follows: a device for welding a battery tray by utilizing robot CMT and FSW technologies comprises a workpiece transmission and handling system, a CMT robot welding system, an FSW robot welding system and a safety protection device, wherein the workpiece transmission and handling system comprises a conveying chain, a handling robot and a handling robot control cabinet, the CMT robot welding system comprises a CMT welding robot, a CMT welding robot control cabinet, a CMT welding assembly, a five-axis double-station rotary positioner and a CMT station tool clamp, the CMT welding assembly comprises a CMT welding gun, a CMT welding power supply, a wire feeder and a gas bottle, the FSW robot welding system comprises an FSW welding robot, an FSW welding robot control cabinet, an FSW welding assembly, a double-station rotary positioner and an FSW station tool clamp, and the FSW welding assembly comprises a machine head and a stirring head.
Further, the safety protection device is a safety protection fence.
Further, a photoelectric sensor is arranged on the conveying chain, and the photoelectric sensor is electrically connected with the control cabinet of the conveying robot and used for detecting whether the tray of the battery to be welded reaches the area to be conveyed.
Furthermore, a suction cup is mounted on a tail end flange of the transfer robot and connected with the air pressure station, and the suction cup bears more than 40 kg.
Further, the machine head is arranged on a connecting flange of the FSW welding robot, and the stirring head is arranged in a connecting sleeve of the machine head.
Further, the conveying chain is arranged in front of the carrying robot, five-axis double-station rotary position changing machines and two-station rotary position changing machines are arranged on two sides of the carrying robot respectively, one side station of the five-axis double-station rotary position changing machine close to the carrying robot, one side station of the double-station rotary position changing machine close to the carrying robot and a region to be carried on the conveying chain are located in the working range of the carrying robot, the CMT welding robot is arranged beside one side station of the five-axis double-station rotary position changing machine far away from the carrying robot, and the FSW welding robot is arranged beside one side station of the double-station rotary position changing machine far away from the carrying robot.
Preferably, in the workpiece conveying and carrying system, the conveying chain is 5-25 m long, the width is 1.5-5 m, the conveying speed is 1-30 m/min, and the load is 0-200 kg; the arm of the transfer robot is spread to be 1-3 m and bears more than 50 kg.
Preferably, in the CMT robot welding system, the five-axis double-station rotary positioner bears more than 100 kg; the arm spread of the CMT welding robot is 1-2 m, and the load is more than 10 kg; the CMT welding power supply can adjust the voltage to 9-30V, the current to 25-400A and the wire feeding speed to 1-17.5 m/min.
Preferably, in the FSW robot welding system, the bearing capacity of the double-station rotary positioner is more than 2000 kg; the arm span of the FSW welding robot is 2-4 m, and the bearing capacity is more than 500 kg; the rotating speed of the head of the FSW welding robot is 50-15000 r/min; the diameter of the shaft shoulder of the stirring head of the FSW welding assembly is 8-60 mm, the applicable thickness is 0.2-30 mm, and the static shaft shoulder or the moving shaft shoulder can be designed and selected according to product requirements or specification and size can be customized according to requirements. A method of welding battery trays using CMT and FSW techniques, comprising the steps of:
the method comprises the following steps: firstly, dividing weld joints according to structural characteristics of a battery tray, and respectively carrying out process pre-research to obtain an optimal process specification;
the battery tray is generally formed by splicing a frame, a rib plate and a bottom plate, so that a weld joint is divided into the following parts according to the structural characteristics: first, the frame and the inside fillet weld of the frame; second, frame and frame outside fillet weld; thirdly, fillet welding between the rib plate and the inner part of the frame; fourthly, fillet welding between the frame and the inner part of the bottom plate; fifthly, fillet welding between the rib plate and the inner part of the bottom plate; a sixth type, welding the back bottom plate with the frame;
the welding process of the six types of weld joints respectively adopts processes 1-6 correspondingly, and the processes 1-6 meet the following requirements:
the process 1 comprises the following steps: adopting CMT + P welding process, welding current I1＝ξ1×(δ1+δ2) /2(A), welding Voltage U118-22V, welding speed 5-25 mm/s, and xi in the formula1Taking 15 to 23, delta1、δ2The thickness of two side frames at the joint is thick;
and (2) a process: by adopting CMT welding process, welding current I2＝ξ2×(δ1+δ2) /2(A), welding Voltage U2The welding speed is 10-15V and 6-12 mm/s, and xi is in the formula2Taking 10 to 16, delta1、δ2The thickness of two side frames at the joint is thick;
and (3) a process: adopting CMT + P welding process, welding current I3＝ξ3×δ3(A) Welding voltage U315-22V, welding speed 8-13 mm/s, and xi in the formula3Taking 22 to 30 degrees delta3The thickness of the rib plate is set;
and (4) a process: by adopting CMT welding process, welding current I4＝ξ4×δ4(A) Welding voltage U410-15V, welding speed 3-12 mm/s, and xi in the formula4Taking 45-60 delta4The thickness of the bottom plate is shown;
and (5) a process: by adopting CMT welding process, welding current I5＝ξ5×δ4(A) Welding voltage U510-15V, welding speed 3-12 mm/s, and xi in the formula5Take 40 to 55, delta4The thickness of the bottom plate is shown;
and (6) a process: adopting FSW welding process, designing the welding seam of the frame and the back bottom plate of the battery tray into a pair-lap joint form, namely processing a rectangular notch at the connecting end of the frame and the bottom plate, wherein the notch thickness is equal to the thickness of the bottom plate, the notch width is d, and d is generally delta4(mm)～δ12(mm), put the bottom plate on the incision during tailor-welding, and the laminating of bottom plate terminal surface and incision thickness face, the stirring head is along butt joint face welding, and the first specification of stirring satisfies: delta4+0.1(mm)<H1<δ4+2(mm)，d(mm)<R<δ1－d(mm)，n＝(250～350)×δ4(r/min), a welding speed of 200-2000 mm/min, wherein H1Is a stirring pinLength, R is shoulder radius, d is notch width, δ4Is the thickness of the bottom plate, delta1The thickness of the frame plate is shown, and n is the rotating speed of the stirring head;
then, planning a robot path according to the welding sequence and model characteristics of 'frame and frame internal fillet weld-frame and rib plate internal fillet weld-frame and bottom plate internal fillet weld-rib plate and bottom plate internal fillet weld-frame and frame external fillet weld-back bottom plate and frame weld', and compiling a program of the CMT welding robot and the friction stir CMT welding robot by combining with process specifications;
step two: putting the battery trays which are assembled in advance and subjected to spot welding to a conveying chain, stopping conveying and sending signals to a conveying robot when a photoelectric sensor detects that the battery trays to be welded reach a to-be-conveyed area of the conveying chain;
step three: the carrying robot moves to a region to be carried, a sucker is opened to absorb the battery tray, the battery tray is carried to a to-be-welded station of the five-axis double-station rotary positioner, and the CMT station tooling clamp fixes the battery tray;
step four: the five-axis double-station rotary positioner rotationally switches stations, the CMT welding robot performs welding according to the CMT welding robot program compiled in the step one, after welding is finished, the battery tray is turned over, the stations are rotationally switched, and the positioner clamp is opened;
step five: the battery tray is conveyed to a to-be-welded station of the double-station rotary positioner by the conveying robot, the FSW station tool clamp fixes the battery tray, and the double-station rotary positioner rotates to switch stations;
step six: and (4) welding the FSW robot according to the FSW robot program compiled in the step one, rotationally switching the stations by the double-station rotary positioner after welding is completed, and carrying the battery tray to a workpiece placing area by the carrying robot.
The device can also be provided with an electric control system, the electric control system is used for cooperatively controlling the workpiece transmission and handling system, the CMT robot welding system and the FSW robot welding system, and the steps from two to six are repeated to carry out batch welding on the battery trays.
The invention has the beneficial effects that:
1. the device and the method for welding the battery tray by using the CMT and FSW technologies of the robot provide a CMT and FSW combined battery tray welding process, summarize and conclude a multivariate relational expression of various welding seam welding processes and plate thicknesses of the battery tray, on one hand, the welding seam can be completely welded, the welding seam quality of the battery tray is ensured, and on the other hand, theoretical basis and practical guidance are provided for the production of the battery trays with different specifications;
2. according to the CMT and FSW combined process in the method, firstly, CMT welding is carried out, then FSW is carried out, and the method of welding first and then solid-phase welding can ensure the quality of a welding seam while the CMT uses a large heat input process, and meanwhile, when a back bottom plate and a frame are welded in an FSW mode, the welding deformation of the CMT is corrected by using FSW pressure;
3. according to the method, the frame at the back of the battery tray and the welding seam joint of the bottom plate are designed into a pair-lap joint combined welding seam, and FSW welding can be carried out without externally supporting the frame;
4. the device can efficiently complete the production and the manufacture of the battery tray by utilizing the cooperation of a robot CMT, a robot FSW, a carrying robot, a conveying chain and the like under the condition of meeting the welding process requirement of the battery tray.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is an overall view of a production line according to the present invention;
FIG. 2 is a diagram of a transfer robot of the present invention;
FIG. 3 is a diagram of a CMT welding robot of the present invention;
FIG. 4 is a diagram of the FSW robot of the present invention;
FIG. 5 is a schematic view of a butt-lap joint assembly of the present invention.
In the figure: 1-battery tray, 2-conveying chain, 3-carrying robot, 31-sucker, 32-carrying robot control cabinet, 4-five-axis double-station rotary positioner, 41-CMT station tool clamp, 5-CMT welding robot, 51-CMT welding gun, 52-CMT welding power supply, 53-CMT welding robot control cabinet, 54-wire feeder, 6-gas cylinder, 7-double-station rotary positioner, 71-FSW station tool clamp, 8-FSW welding robot, 81-stirring head, 82-FSW welding robot control cabinet, 9-workpiece placing area, 10-safety protective guard, 11-frame and 12-bottom plate.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in figure 1, the device for welding the battery tray by utilizing the CMT and FSW technologies comprises a workpiece transmission and handling system, a CMT robot welding system, an FSW robot welding system and a safety protective guard 10, wherein the workpiece transmission and handling system comprises a conveying chain 2, a handling robot 3 and a handling robot control cabinet 32, a photoelectric sensor is arranged on the conveying chain 2 and electrically connected with the handling robot control cabinet 32 and used for detecting whether the battery tray to be welded reaches an area to be handled or not, the handling robot control cabinet 32 controls the handling robot 3 to carry the battery tray 1 from the area to be handled to a station to be welded, a suction cup 31 is arranged on a flange at the tail end of the handling robot 3, the suction cup 31 is connected with an air pressure station, the CMT robot welding system comprises a CMT welding robot 5, a CMT welding robot control cabinet 53, a CMT welding assembly, a five-axis double-station rotary positioner 4 and a five-axis double-station tool clamp 41, CMT welding assembly includes CMT welder 51, CMT welding power supply 52, send a machine 54 and gas cylinder 6, FSW robot welding system includes FSW welding robot 8, FSW welding robot switch board 82, FSW welding assembly, duplex position gyration machine 7 and FSW station frock clamp 71, FSW welding assembly includes aircraft nose and agitator head 81, the aircraft nose is installed on FSW welding robot 8's flange, agitator head 81 is installed in the link sleeve of aircraft nose.
The conveying chain 2 is arranged in front of the carrying robot 3, five-axis double-station rotary position changing machines 4 and two-station rotary position changing machines 7 are arranged on two sides of the carrying robot 3 respectively, the five-axis double-station rotary position changing machines 4 are close to one side station of the carrying robot 3, the double-station rotary position changing machines 7 are close to one side station of the carrying robot 3, and an area to be carried on the conveying chain 2 is located in a working range of the carrying robot 3, the CMT welding robot 5 is arranged beside one side station, far away from the carrying robot 3, of the five-axis double-station rotary position changing machines 4, and the FSW welding robot 8 is arranged beside one side station, far away from the carrying robot 3, of the double-station rotary position changing machines 7.
Example (b):
the invention provides a device and a method for welding battery trays by using robot CMT and FSW technologies, which are used for manufacturing the battery trays with the specification of 1800 × 1200 × 130mmm, wherein the frame plate is 10mm thick, the rib plate is 7mm thick, the bottom plate is 3mm thick, each part is made of 6061 aluminum alloy, and the specification of each device is determined:
in the workpiece conveying and carrying system, a conveying chain 2 is 7m long and 2m wide, the conveying speed is 1-30 m/min, and the bearing capacity is 60 kg; the arm of the transfer robot 3 is 1.96m in width and bears 60kg, and the suction cup 31 bears 40-100 kg.
In the CMT robot welding system, a five-axis double-station rotary positioner 4 bears 100-600 kg; the arm spread of the CMT welding robot 5 is 1.65-1.85 m, and the load is 12-20 kg; the CMT welding power supply 52 can adjust the voltage to 9-30V, the current to 25-400A and the wire feeding speed to 1-17.5 m/min.
In the FSW robot welding system, the bearing capacity of a double-station rotary positioner 7 is 2000-4000 kg; the arm spread of the FSW welding robot 8 is 2.3-3.5 m, and the FSW welding robot bears 150-500 kg; the rotating speed of the head of the FSW welding robot 8 is 50-15000 r/min; the diameter of the shaft shoulder of the static shaft stirring head 81 of the FSW welding component is 18mm, and the length of the stirring pin is 10 mm.
The specific implementation steps are as follows:
the method comprises the following steps: firstly, dividing weld joints according to structural characteristics of a battery tray, and respectively carrying out process pre-research to obtain an optimal process specification;
the battery tray is formed by splicing a frame 11, a rib plate and a bottom plate 12, so that a weld joint is divided into: first, the frame 11 and the inner fillet weld of the frame 11; second, the frame 11 is welded to the outer corner of the frame 11; thirdly, fillet welding between the rib plate and the inner part of the frame 11; in the fourth category, fillet welds are formed between the frame 11 and the bottom plate 12; fifthly, fillet welding between the rib plate and the inner part of the bottom plate 12; in the sixth category, the back bottom plate 12 is welded to the frame 11;
the welding process of the six types of weld joints respectively adopts the processes 1-6 correspondingly, and the processes 1-6 meet the following requirements:
the process 1 comprises the following steps: adopting CMT + P welding process, welding current I1190-210 (A), welding voltage U1The welding speed is 18-22V, and is 10 mm/s;
and (2) a process: by adopting CMT welding process, welding current I2120 to 140(A), welding voltage U210-15V, and the welding speed is 8 mm/s;
and (3) a process: adopting CMT + P welding process, welding current I3160-180 (A), welding voltage U315-22V, and the welding speed is 10 mm/s;
and (4) a process: by adopting CMT welding process, welding current I4150-170 (A), welding voltage U410-15V, and the welding speed is 10 mm/s;
and (5) a process: by adopting CMT welding process, welding current I5140 to 160(A), welding voltage U510-15V, and the welding speed is 10 mm/s;
and (6) a process: adopting FSW welding process, designing the welding seam of the battery tray frame and the back bottom plate into a pair-lap joint form, namely processing a rectangular notch at the connecting end of the frame and the bottom plate, wherein the notch thickness is equal to the thickness of the bottom plate, the notch width is d, d is 3(mm) -5 (mm), putting the bottom plate on the notch during tailor-welding, the end surface of the bottom plate is attached to the notch thickness surface, and the stirring head is welded along the butt joint surface, wherein 3.01(mm)<H1<5(mm)，4<R<6(mm), n is 750 to 1050(r/min), and the welding speed is 200 to 2000mm/min, wherein H1The length of the stirring pin, the radius of the shaft shoulder and the rotating speed of the stirring head are shown as R.
Then, planning a robot path according to a welding sequence and model characteristics of 'a fillet weld between the frame 11 and the frame 11, a fillet weld between the frame 11 and the rib plate, a fillet weld between the frame 11 and the bottom plate 12, a fillet weld between the rib plate and the bottom plate 12, a fillet weld between the frame 11 and the frame 11, and a fillet weld between the back bottom plate 12 and the frame 11', and compiling a program of the CMT welding robot and the friction stir CMT welding robot by combining with process specifications;
step two: the battery tray 1 which is assembled in advance and welded in a spot mode is placed on a conveying chain 2, when a photoelectric sensor detects that the battery tray to be welded reaches a to-be-conveyed area of the conveying chain, conveying is suspended, and signals are sent to a conveying robot 3;
step three: the carrying robot 3 moves to a region to be carried, the suction cup 31 is opened to absorb the battery tray 1, the battery tray is carried to a station to be welded of the five-axis double-station rotary positioner 4, and the CMT station tooling clamp 41 fixes the battery tray;
step four: the five-axis double-station rotary positioner 4 rotates to switch stations, the CMT welding robot 5 performs welding according to the CMT welding robot program compiled in the step one, after welding is finished, the battery tray 1 is turned over, the stations are rotated to switch, and the CMT station tool clamp 41 is opened;
step five: the battery tray 1 is conveyed to a to-be-welded station of the double-station rotary positioner 7 by the conveying robot 3, the battery tray 1 is fixed by the FSW station tool clamp 71, and the double-station rotary positioner 7 rotates to switch stations;
step six: and (3) welding the FSW robot 8 according to the FSW robot program compiled in the step one, and after welding is finished, rotating the double-station rotary positioner 7 to switch stations, and carrying the battery tray 1 to a workpiece placing area 9 by the carrying robot 3.
The device can also be provided with an electrical control system, the workpiece transmission and handling system, the CMT robot welding system and the FSW robot welding system are cooperatively controlled through the electrical control system, the second step to the sixth step are repeated, and batch welding of the battery trays is cooperatively and efficiently completed.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (1)
1. A method of welding battery trays using CMT and FSW techniques, comprising the steps of:
the method comprises the following steps: firstly, dividing weld joints according to structural characteristics of a battery tray, and respectively carrying out process pre-research to obtain an optimal process specification;
the battery tray is formed by splicing a frame, a rib plate and a bottom plate, so that a weld joint is divided into: first, the frame and the inside fillet weld of the frame; second, frame and frame outside fillet weld; thirdly, fillet welding between the rib plate and the inner part of the frame; fourthly, fillet welding between the frame and the inner part of the bottom plate; fifthly, fillet welding between the rib plate and the inner part of the bottom plate; a sixth type, welding the back bottom plate with the frame;
the welding process of the six types of weld joints respectively adopts processes 1-6 correspondingly, and the processes 1-6 meet the following requirements:
the process 1 comprises the following steps: adopting CMT + P welding process, welding current I1＝ξ1×(δ1+δ2) /2(A), welding Voltage U118-22V, welding speed 5-25 mm/s, and xi in the formula1Taking 15 to 23, delta1、δ2The thickness of two side frames at the joint is thick;
and (2) a process: by adopting CMT welding process, welding current I2＝ξ2×(δ1+δ2) /2(A), welding Voltage U2The welding speed is 10-15V and 6-12 mm/s, and xi is in the formula2Taking 10 to 16, delta1、δ2The thickness of two side frames at the joint is thick;
and (3) a process: adopting CMT + P welding process, welding current I3＝ξ3×δ3(A) Welding voltage U315-22V, welding speed 8-13 mm/s, and xi in the formula3Taking 22 to 30 degrees delta3The thickness of the rib plate is set;
and (4) a process: by adopting CMT welding process, welding current I4＝ξ4×δ4(A) Welding voltage U410-15V, welding speed 3-12 mm/s, and xi in the formula4Taking 45-60 delta4The thickness of the bottom plate is shown;
and (5) a process: by adopting CMT welding process, welding current I5＝ξ5×δ4(A) Welding voltage U510-15V, welding speed 3-12 mm/s, and xi in the formula5Take 40 to 55, delta4The thickness of the bottom plate is shown;
and (6) a process: adopting FSW welding process to design the welding seams at the frame (11) and the bottom plate (12) of the back of the battery tray into pairsThe lapping mode is that a rectangular notch is processed at the connecting end of the frame (11) and the bottom plate (12), the thickness of the notch is equal to the thickness of the bottom plate, the width of the notch is d, and d is generally delta4(mm)～δ12(mm), put the bottom plate on the incision during tailor-welding, and the laminating of bottom plate terminal surface and incision thickness face, the stirring head is along butt joint face welding, and the first specification of stirring satisfies: delta4+0.1(mm)<H1<δ4+2(mm)，d(mm)<R<δ1－d(mm)，n＝(250～350)×δ4(r/min), a welding speed of 200-2000 mm/min, wherein H1For the pin length, R is the shoulder radius, d is the notch width, δ4Is the thickness of the bottom plate, delta1The thickness of the frame plate is shown, and n is the rotating speed of the stirring head;
then, planning a robot path according to the welding sequence and model characteristics of 'frame and frame internal fillet weld-frame and rib plate internal fillet weld-frame and bottom plate internal fillet weld-rib plate and bottom plate internal fillet weld-frame and frame external fillet weld-back bottom plate and frame weld', and compiling a program of the CMT welding robot and the friction stir CMT welding robot by combining with process specifications;
step two: the battery tray (1) which is assembled in advance and welded in a spot mode is placed on a conveying chain (2), when a photoelectric sensor detects that the battery tray to be welded reaches a to-be-conveyed area of the conveying chain, conveying is paused, and signals are sent to a conveying robot (3);
step three: the carrying robot (3) moves to a to-be-carried area, a sucker (31) is opened to absorb the battery tray (1), the battery tray is carried to a to-be-welded station of the five-axis double-station rotary positioner (4), and a CMT station tool clamp (41) fixes the battery tray;
step four: the five-axis double-station rotary positioner (4) rotates to switch stations, the CMT welding robot (5) performs welding according to the CMT welding robot program compiled in the step one, after welding is finished, the battery tray is turned over, the stations are rotated to switch, and the positioner clamp is opened;
step five: the battery tray is conveyed to a to-be-welded station of the double-station rotary positioner (7) by the conveying robot (3), the battery tray is fixed by the FSW station tool clamp (71), and the double-station rotary positioner (7) rotates to switch stations;
step six: and (3) welding the FSW robot according to the FSW robot program compiled in the step one, after welding is completed, rotationally switching the stations by the double-station rotary positioner (7), and carrying the battery tray to a workpiece placing area by the carrying robot (3).
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| CN113305457B (en) | 2022-11-08 |
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